US8311054B2 - Transmitting/receiving system, node and communication method - Google Patents
Transmitting/receiving system, node and communication method Download PDFInfo
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- US8311054B2 US8311054B2 US12/410,086 US41008609A US8311054B2 US 8311054 B2 US8311054 B2 US 8311054B2 US 41008609 A US41008609 A US 41008609A US 8311054 B2 US8311054 B2 US 8311054B2
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/407—Bus networks with decentralised control
- H04L12/417—Bus networks with decentralised control with deterministic access, e.g. token passing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/16—Time-division multiplex systems in which the time allocation to individual channels within a transmission cycle is variable, e.g. to accommodate varying complexity of signals, to vary number of channels transmitted
- H04J3/1682—Allocation of channels according to the instantaneous demands of the users, e.g. concentrated multiplexers, statistical multiplexers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40143—Bus networks involving priority mechanisms
- H04L12/40156—Bus networks involving priority mechanisms by using dedicated slots associated with a priority level
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
Definitions
- each module of an automobile has been promoted and a plurality of electronic control units (ECUs) are mounted on each automobile.
- the ECUs constitute a network and each piece of control information is exchanged by communications between the ECU.
- FlexRay being one of TDMA methods featured by a flexible segment structure comprising a fixed area and a variable area is described below.
- the communication method is not limited to this.
- FlexRay is a time-trigger method (in other words, a TDMA method).
- a certain time (communication cycle) is divided into slots and a node assigned to each slot transmits a frame. Therefore, data may be surely transferred according to a given schedule. Therefore, compared with an event trigger method (for example, CAN) in which a node issues a communication request in accordance with the occurrence of an event or the like, the real-time processing of data communications is improved and reliability is also improved by using two communication paths.
- an event trigger method for example, CAN
- FIG. 1 illustrates an example network configuration of a cluster comprising a plurality of nodes adopting FlexRay.
- ECU# 1 ( 11 ), ECU# 2 ( 12 ), ECU# 3 ( 13 ), ECU# 4 ( 14 ), . . . and ECU#n ( 1 n ) are connected to each other by a channel A bus ( 21 ) and a channel B bus ( 22 ).
- FIG. 2 explains a communication cycle and a segment/slot structure in FlexRay.
- the communication schedule of FlexRay comprises communication cycles for repeatedly counting 0 through 63 using 6 bits, a segment for managing a time division multiple access (TDMA) in one of the communication cycles and slots.
- the segment is divided into a static segment and a dynamic segment.
- the number of slots of the static segment is 2 through 1,023 and a slot ID is attached across from the static slot of the static segment to the dynamic slot of the dynamic segment.
- the maximum value of the slot ID is 2,047.
- a static slot whose ID is 2 is assigned to ECU# 2 and comprises an idle portion which transmits no data, a static frame for ECU# 2 and an idle portion.
- a dynamic slot whose ID is 51 is assigned to ECU#n and comprises an idle portion, a dynamic frame for ECU#n and an idle portion.
- the last end of a communication cycle is assigned to a symbol window SW being a fixed-length time slot for transmitting a special symbol and a network idle time NIT being no communication period, during which the communication controller of each node performs several operation processes.
- the assignment of a static slot to each ECU in the communication cycle 2 is the similar as in the communication cycle 1 , and slots 1 and 2 are assigned to ECU# 1 and # 2 , respectively.
- FIG. 3 explains the transmitting process of a static segment.
- the slot counters for channels A and B are initialized at the head of a communication cycle and monitor the current slot position. Then, when the frame ID used by a local ECU and a static slot number are matched, a frame is transmitted. Although the slot counter of each channel is separately controlled during the static segment period, their count values may be the same.
- each slot of the static segment is fixed and takes a value in the range of 4 to 659 MT in units of macrotic (MT) of the similar length (time) in a cluster. Transmitting/receiving of a frame in the slot is assured each time in each communication cycle.
- MT macrotic
- FIG. 4 explains the transmitting process of a dynamic segment.
- a dynamic segment has a transfer area of variable-length slot comprising mini-slots each of which occupies a time area being a minimum unit smaller than a slot. Therefore, a dynamic segment may transmit/receive a variable-length frame.
- the length of a mini-slot is in the range of 2 to 63 MT and its number is in the range of 0 to 7,986.
- the slot counter individually operates for each channel.
- a frame is transmitted when the slot counter value is m and the slot counter value is m during the period.
- the counter value counts up from m to m+1 to m+2 during the period and at m+3, a frame of frame ID m+3 is transferred.
- the value of the slot counter is incremented every mini-slot.
- FIG. 5 explains constraints in a dynamic segment.
- a parameter called pLatestTx for determining whether the last end in which a frame may be transferred is reached after sequentially transferring frames is used.
- this parameter may take a value in the range of 0-7, 981 mini-slots, it is used to determine in such a way that a longest dynamic frame may be transmitted last.
- the longest dynamic frame is the total length of a header, a payload and a trailer and is 262 bytes.
- Dynamic frames are sequentially transmitted, lastly the mini-slot time area up to pLatestTx is transmitted and the transmission of a new slot is prohibited. Therefore, if preferential frames using smaller slot ID numbers are transmitted up to pLatestTx, non-preferential frames may not be transmitted in the current cycle.
- a specification document of the above described FlexRay may be downloaded by accessing the home page of the “FlexRay Communication System Protocol Specification” ver. 2.1 Rev. A (Dec. 22, 2005) (http://www.flexray.com/index.php).
- the Japanese Laid-open Patent Publication No. 2005-328119 discusses a communication message conversion device for converting a message in CAN transmission path and a message in FlexRay transmission path to each other.
- a transmitting/receiving system includes a control field controlling a transmitting priority of a dynamic slot is included in each communication cycle, and a node of the transmitting/receiving system sets control information including a preferential usage request for a dynamic slot that the node transmits in the control field and notifies all nodes in the transmitting/receiving system of the preferential usage request for the dynamic slot.
- FIG. 1 illustrates an example network configuration adopting FlexRay.
- FIG. 2 explains a communication cycle and a segment/slot structure in FlexRay.
- FIG. 3 explains the transmitting process of a static segment.
- FIG. 4 explains the transmitting process of a dynamic segment.
- FIG. 5 explains constraints in a dynamic segment.
- FIG. 6 explains the first structure example of a control field according to the present embodiment.
- FIG. 7 explains the second structure example of a control field according to the present embodiment.
- FIG. 8A illustrates an example cluster structure by bus connection.
- FIG. 8B illustrates an example cluster structure in which a star connection and a bus connection are mixed.
- FIG. 9 explains a node structure example according to the present embodiment.
- FIG. 10A explains a case where the first structure example of a control field is adopted in the first embodiment.
- FIG. 10B explains a case where the second structure example of a control field is adopted in the first embodiment.
- FIG. 11 explains the example determination of a transmittable dynamic slot in the case where one-bit priority information is used in the first embodiment.
- FIG. 12 explains an example transmitting process flow of a dynamic slot in the case where one-bit priority information is used in the first embodiment.
- FIG. 13 explains the example determination of a transmittable dynamic slot in the case where two-bit priority information is used in the first embodiment.
- FIG. 14 explains the example determination of a transmittable dynamic slot in the case where priority information and the number of transmitting bytes are used in the first embodiment.
- FIG. 15 explains the second embodiment.
- FIG. 16 explains the example determination of transmittable dynamic slots in the case where one-bit priority information is used and priority is determined for each group in the second embodiment.
- FIG. 17 explains the example determination of transmittable dynamic slots in the case where one-bit priority information is used in the third embodiment.
- FIG. 18 explains the example determination of transmittable dynamic slots in the case where two-bit priority information is used and priority is determined for preferential requests with the top priority and the second priority in the entire dynamic segment in the third embodiment.
- FIG. 19 explains the example determination of transmittable dynamic slots in the case where priority information and the number of transmitting bytes are used in the third embodiment.
- FIG. 6 explains the first structure example of a control field according to the present embodiment.
- a dynamic request flag area (control field) is included in the payload portion of a static slot.
- the transmitting/receiving reliability of control information requesting for preferential usage is improved and the process is made easy since the control information may be obtained before a dynamic segment starts. Therefore, it is effective when it is used to surely transmit the control field each time.
- the control information stored in the control field is a group of bit information corresponding to all the used dynamic slots. As illustrated in FIG. 6 , if the slot numbers of dynamic slots are n through n+k, the control information of the control field comprises a slot n usage request bit through a slot (n+k) usage request bit. In the illustrated example, the preferential usage of a dynamic slot is requested by setting a bit in a position corresponding to a slot M which a transmitting node assigned to the slot 3 requests to use to 1.
- each node checks the control information of each static slot. If there is a preferential usage request for a dynamic slot after a dynamic slot assigned to the node itself and the transmitting band of a slot whose preferential usage is requested runs short due to the transmission of the node, the transmission of a frame using a dynamic slot assigned to the node is cancelled.
- a dynamic slot being the control target of a preferential usage request may be made in the similar communication cycle. Alternatively, it may be made a dynamic slot in a subsequent communication cycle.
- FIG. 7 explains the second structure example of a control field according to the present embodiment.
- the control field is set in a dynamic segment.
- the dynamic segment is divided into a control information slot area and a data slot area.
- One information control slot is assigned to each node.
- the slot length, frame length and payload length of a static segment are fixed and when the size of some of the frames becomes large, it affects all the static slots. Therefore, if the first structure example of the control field is adopted, there is a possibility that the band of the entire static segment may become unnecessarily large. In that case, by adopting the second structure example of the control field and moving control information to a dynamic segment, the band of a static segment may be minimized.
- a control field is transmitted in a static slot as in the first structure example when there is no need to surely transmit a control field each time, for example, a control field is transmitted as requested, its overhead becomes large.
- a control information dynamic slot in the second structure example comprises a header portion, a control field and a CRC check trailer portion.
- the control field comprises slot (n+m) usage request bit through slot (n+m+1) usage request bit.
- the preferential usage of a dynamic slot is request by setting a bit in a position corresponding to a slot M which a transmitting node assigned to the slot (n+2) requests to use to 1.
- each node Only when requesting for the preferential usage of a dynamic slot, each node transmits preferential usage request information in a control information slot.
- a method for specifying the ID of a dynamic slot may be considered besides a method by a bit position corresponding to a dynamic slot as illustrated.
- one node may transmit the frames in a plurality of dynamic slots. Therefore, when determining the transmitting method of preferential usage request information, it is used to consider a case where one node requests a plurality of dynamic slots to transmit frames. Then, as illustrated in FIGS. 6 and 7 , a method for providing preferential usage request information (control bit) for each of all the dynamic slots whose preferential usage may be requested is effective when the preferential usage request information of a plurality of dynamic slots are simultaneously transmitted.
- a slot whose preferential usage is requested in a dynamic segment in the current or a subsequent communication cycle may be clarified and a band may be assigned in a dynamic segment time according to priority.
- all the transmitting nodes in a cluster may set their preferential usage information in the similar format, the processing methods of all the receiving nodes may be unified and the similar determination results may be obtained.
- One node may also transmit preferential usage request information for a plurality of slots.
- transmittable slots may be determined only by the number of preferential usage requests. Therefore, the determination method is easy.
- priority levels may be set and fine control may become possible.
- each node checks control information. If there is a preferential usage request for a dynamic slot assigned to the node itself or a dynamic slot thereafter and the transmitting band of a slot whose preferential usage is requested runs short by the node transmitting, the transmission of a frame using the dynamic slot assigned to the node is cancelled.
- a dynamic slot being the control target of a preferential usage request can be transmitted in the similar communication cycle. Alternatively, it can be transmitted in a subsequent communication cycle.
- FIG. 8A illustrates an example cluster structure by bus connection.
- nodes 1 ( 81 ), 2 ( 82 ), 3 ( 83 ), 4 ( 84 ), . . . and M ( 8 m ) are connected by a bus ( 80 ) and constitute a cluster being a transmitting/receiving system.
- FIG. 8B illustrates an example cluster structure in which a star connection and a bus connection are mixed.
- nodes 1 ( 81 ), 2 ( 82 ) and 3 ( 83 ) are connected by a star coupler ( 89 ) and nodes 4 ( 84 ), . . . and M ( 8 m ) are connected by a bus ( 80 ), which constitute a cluster as a whole.
- each of the bus and the star is indicated by a piece of line, as described earlier, it is physically composed of two pieces of transmission paths.
- FIG. 9 explains a node structure example according to the present embodiment.
- a node ( 90 ) comprises a CPU ( 91 ) for processing and controlling transmitting/receiving data and a communication control unit ( 92 ) for controlling communications with another node via a bus.
- the communication control unit ( 92 ) comprises a CPU-IF unit ( 93 ) for providing an interface with the CPU ( 91 ), a timing control unit ( 94 ) for controlling the timing of a time trigger, a bus transmitting/receiving control unit ( 95 ) for controlling the transmission/reception of data with the bus, a priority information unit ( 96 ) for storing priority information and a message information unit ( 97 ) for storing transmitting/receiving message.
- the CPU ( 91 ) sets data to transmit in this message information unit ( 97 ).
- the transmitting/receiving data is read from this message information unit ( 97 ).
- the bus transmitting/receiving control unit ( 95 ) transmits and receives frames according to the information of the timing control unit ( 94 ). It also assembles and disassembles frame formats.
- transmitting data is moved from the message information unit ( 97 ) according to an instruction from the timing control unit ( 94 ) and its transmission to a bus is controlled. If there is priority information to transmit, it is applied to an information field and is transmitted.
- the received data is stored in the message information unit ( 97 ).
- the information about a preferential usage request is stored in the priority information unit ( 96 ).
- the timing control unit ( 94 ) controls the timing of a time trigger (TDMA in other words). For example, when it is the turn of the transmitting slot of the local node, it instructs the bus transmitting/receiving control unit ( 95 ) to issue a bus transmitting request.
- the priority of bus transmitting timing is controlled according to the priority information of the priority information unit ( 96 ). Alternatively, the bus transmitting timing is controlled by a transmitting instruction from the CPU ( 91 ).
- the priority information unit ( 96 ) comprises a Tx register ( 98 ) being a register for storing local node (transmitting) priority information and a register group (Rx register ( 99 )) for storing priority information from other nodes for each control unit.
- Each of these registers has as many fields as the number of slots whose priority is controlled.
- the CPU ( 91 ) sets priority information in the corresponding field of the Tx register ( 98 ) via the CPU-IF unit ( 93 ), which constitutes payload data together with message information and is transmitted from the bus transmitting/receiving control unit ( 95 ) to a bus at the timing of the transmitting slot of the node.
- Preferential usage information from another node is stored in the Rx register ( 99 ) as the logical OR of preferential usage information from respective receiving slots for each control unit.
- a processing method for the priority control calculation there are two methods of a hardware process of providing an operation processing unit in the priority information unit ( 96 ) and a software process in which the CPU ( 91 ) obtains priority information via the CPU-IF unit ( 93 ) and performs calculation.
- a priority process is calculated by the operation unit in the priority information unit ( 96 ) until its transmission of a control target dynamic segment in the similar communication cycle is controlled after all pieces of preferential usage information are obtained. If there is a dynamic slot whose transmission is cancelled by preferential usage as the result of the operation, the operation process result is reported to the timing control unit ( 94 ).
- the timing control unit ( 94 ) cancels the transmission of a dynamic slot according to the operation process result.
- Priority information of the Rx register is reset until a subsequent communication cycle is started after the operation process result is reported.
- the CPU ( 91 ) obtains the priority information of the Rx register, calculates the priority process and notifies the timing control unit ( 94 ) of the result via the CPU-IF unit ( 93 ).
- the timing control unit ( 94 ) cancels the transmission of a dynamic slot according to the operation process result.
- a dynamic slot being a control target in this case, either a dynamic slot in the similar communication cycle or a dynamic slot in a subsequent communication cycle may be controlled.
- Priority information of the Rx register is reset by the operation of the CPU ( 91 ) after the operation process result is reported.
- the number of transmittable nodes is not one, it is used to consider a case where each of a plurality of nodes issues a preferential usage request for respective transmitting dynamic slots. It is also used to determine priority in one communication cycle in total.
- the process is easy. Real-time control by hardware/software may be also possible.
- it may be processed by reflecting preferential usage request information obtained in the current communication cycle in a subsequent communication cycle. Therefore, its flexibility is high.
- FIG. 10A explains a case where the first structure example of a control field is adopted in the first embodiment.
- the case is described using a cluster in which nodes 1 ( 101 ), 2 ( 102 ) and 3 ( 103 ) are connected by a bus as an example.
- a control field is included in a frame which is transferred in a static slot.
- there are only three static slots being the similar number as the nodes, the number may be also more.
- Each node transmits preferential usage request information using a static slot. Then, the receiving side obtains all the pieces of preferential usage request information and controls a preferential usage request.
- FIG. 10B explains a case where the second structure example of a control field is adopted in the first embodiment.
- a control field is included in frames which are transferred by slots of the number of nodes from the head of the dynamic segment.
- the first three slots of the dynamic segment are assigned as slots for frames transmitting control fields.
- Each node transmits preferential usage request information in these assigned slots.
- payload may be also transmitted in the assigned slots together.
- the receiving side obtains all the pieces of preferential usage request information and controls a preferential usage request.
- each receiving node buffers control field information in the frame transmitted from transmitting nodes requesting for preferential usage and collectively determines priority after obtaining all the pieces of preferential usage request information used for the dynamic segment in the communication cycle.
- the number (p) of preferential usage-requested slots is calculated.
- np total — d slot ⁇ p [Expression 1] 3.
- the number of transmittable preferential slots (allow_p) and transmittable non-preferential slots (allow_np) may be obtained by the following expression 2.
- segment_length >(allow — p+ allow — np ) ⁇ slot_length, [Expression 2] wherein segment_length: Dynamic segment length allow_p: Number of transmittable preferential slots (0 ⁇ allow_p ⁇ p) allow_np: Number of transmittable non-preferential slots (0 ⁇ allow_np ⁇ np) slot_length: Dynamic slot length
- Each node calculates a band needed to transmit all the preferentially-requested slots on the basis of expression 2 to determine a transmitting dynamic slot. For that purpose, the following procedures are executed.
- allow_np is calculated as the maximum value satisfying expression 2.
- allow_p segment_length/slot_length (The fractional portion of the number is dropped) [Expression 4]
- no transmittable non-preferential slot is assigned and it is used to select a transmittable slot from the requested preferential slots.
- transmittable slots are selected according to the ID of requested preferential slots.
- allow_p is calculated as follows.
- a transmittable non-preferential slot may be determined according to expression 5 and since the smaller is a slot number, the higher is priority, transmittable slots are assigned according to their slot ID.
- Each transmitting node determines whether to transmit according to this assigned transmittable slot.
- a transmittable slot is determined in descending order of priority level, in the similar way as a transmittable slot is determined in order from preferential slots to non-preferential slots.
- FIG. 11 explains the example determination of a transmittable dynamic slot in the case where one-bit priority information is used in the first embodiment, For example, preferential/non-preferential information is defined using one bit for each dynamic slot in control information.
- the control field is that of the first structure example and included in the static slot, the similar also applies to the second structure example.
- node 1 requests for the preferential usage of the slots 4 , 7 and 10 of the dynamic segment in the control field of a frame transmitted in a static slot 1 .
- the transmittable dynamic slots of node 1 ( 101 ) are slots 4 , 7 and 10
- the transmittable dynamic slots of node 2 ( 102 ) are slots 5 , 8 and 11
- the transmittable dynamic slots of node 3 ( 103 ) are slots 6 , 9 and 12 .
- its dynamic segment time (segment_length) is the maximum slot length (slot_length) in the cluster ⁇ five slots.
- nodes corresponding to slots 8 , 9 , 11 and 12 cancel transmission in those slots (In the figure, nodes 2 ( 102 ) and 3 ( 103 )).
- node 2 ( 102 ) requests for the preferential usage of slots 5 , 8 and 11 .
- one request may not be transmitted since the number in total of transmittable slots is five. In this case, transmission by a slot with ID of a larger slot number is cancelled. In the figure, it is slot 11 . In this case, the number of transmittable slots as non-preferential slots is 0.
- FIG. 12 illustrates one example transmitting process flow of a dynamic slot in the case where one-bit priority information is used in the first embodiment. It is assumed that the control field is set in a static slot.
- operation S 10 a static slot n is received. Then, in operation S 11 control information is obtained from the static slot n received in operation S 10 . Then, in operation S 12 it is determined whether the static segment is finished.
- operation S 22 it is determined whether there is a transmittable dynamic slot whose preferential usage is not requested on the basis of the comparison between the number of transmittable dynamic slots and the number of slots whose preferential usage is requested. If there is no transmittable slot, the process advances to operation S 30 . If there are transmittable slots, its number is calculated in operation S 23 .
- transmittable non-preferential slots are determined on the basis of the number of transmittable non-preferential slots calculated in operation S 23 and the ID numbers of the dynamic slots.
- operation S 30 it is determined whether a dynamic slot k may be transmitted on the basis of the determination processes in operations S 21 and S 24 .
- the process advances to operation S 31 . If it may not be transmitted, the process advances to operation S 32 .
- operation S 33 it is determined whether the dynamic segment is finished.
- the process returns to operation S 30 and the determination of a subsequent dynamic slot is repeated. If it is already finished, the process returns to operation S 10 and the process in a subsequent communication cycle is performed.
- the processes in operations S 10 through S 12 illustrated in FIG. 12 are processes in the static segment and correspond to the processes of slots 1 through 3 in FIG. 11 .
- the processes in operations S 30 through S 33 are processes in the dynamic segment.
- Processes in operations S 20 through S 24 are processes between the segments.
- FIG. 13 explains the example determination of a transmittable dynamic slot in the case where priority information of a plurality of bits is used in the first embodiment.
- FIG. 13 exemplifies a case where two-bit control information is used, in which “11” has top priority and after that, priority decreases in order of “10”, “01” and “00”.
- transmittability is determined in descending order from top priority.
- node 1 ( 101 ) issues a request “01” for slot 7
- node 2 ( 102 ) issues a request “10” for slots 2 and 8
- node 3 ( 103 ) issues requests “11” for slots 3 and 12 .
- slots marked with an illustrated double circle are determined to be transmittable
- slots marked with a single circle are determined to be transmittable
- slots marked with a black circle are determined to be transmittable
- a slot marked with a triangle is determined to be transmittable.
- slot 1 since seven slots may transmit in the dynamic segment, of non-preferential slots, slot 1 may transmit but slots 9 and 10 may not transmit.
- FIG. 14 explains the example determination of a transmittable dynamic slot in the case where priority information and the number of transmitting bytes are used in the first embodiment.
- the length of a frame transmitted by each dynamic slot is variable, it is used to take its band in use into consideration. However, when the band in use is unknown, there is no other way than to determine permit using the maximum possible frame length in the system as the length of a frame transmitted by the dynamic slot.
- FIG. 14 a method for preventing an excessive band from being assigned is illustrated in FIG. 14 , in which the data size information about each dynamic slot is added to preferential usage request information for each dynamic slot.
- priority information and transmitting size are expressed by one and two bits, respectively.
- a used band may be somewhat known by a small number of bits by classifying data size, for example, into “00”, “01”, “10” and “11” for 32 bits or less, 64 bits or less, 128 bits or less and 256 bits or less, respectively.
- data size may be easily determined.
- the band of each slot is sequentially assigned in descending order of priority according to transmitting size.
- the transmission of slots is cancelled in ascending order of priority and in descending order of frame ID number.
- the determination process is performed until the band reaches to the maximum possible transmittable size.
- preferential usage requests for slots 4 and 7 are issued from node 1 , for slot 11 from node 2 and for slot 12 from node 3 .
- that of slot 4 is 32 bits
- that of slot 7 is 64 bits and each of those of slots 11 and 12 is 32 bits, which is 160 bits in total.
- that of slot 5 is 64 bits
- that of slot 6 is 256 bits
- that of slot 8 is 128 bits
- that of slot 9 is 32 bits
- that of slot 10 is 128 bits, which is 608 bits in total.
- the total of the transmitting sizes of preferential and non-preferential slots is 768 bits.
- the maximum possible transmittable size of the entire dynamic segment is, for example, 600 bits, all the slots may not be transmitted.
- slot 10 having a transmitting size of 128 bits which is non-preferential and whose ID number is the largest is first cancelled and after that, transmission continues to be cancelled until all the slots may be transmitted, in descending order of ID number. Then, as illustrated, slots 9 and 8 may not also be transmitted.
- priority is controlled in units of group. Therefore, priority control close to the essential specification that the smaller is a slot number, the higher is priority, may become possible (it means that non-preferential slots having small ID are also transmitted).
- a band may be effectively and efficiently used including non-preferential slots.
- FIG. 15 explains the second embodiment. Its cluster structure is the similar as illustrated in FIG. 10A . As to its group classification, it is assumed that slots 4 through 6 , slots 7 through 9 and slots 10 through 12 are groups 1, 2 and 3, respectively. In the second embodiment, for example, transmitting slots are determined for each of the groups 1 through 3.
- transmitting slots are determined giving more emphasis on priority due to a slot ID than in the first embodiment.
- the dynamic slots of the dynamic segment are divided into a plurality of groups and transmittable slots are determined from a group including a smaller slot ID.
- a plurality of dynamic slots is divided into groups in advance and the number of preferential usage-requested slots (p_n) is calculated for each group.
- the arbitrary number of ID is grouped in continuous order of ID number.
- the number (np_n) of slots whose preferential usage is not requested is calculated for each group by the following expression 6 on the basis of the known number (group_dslot_n) of transmittable dynamic slots in a group and the result of the above 7.
- np — n group — d slot — n ⁇ p — n ( n : group number) [Expression 6] 9.
- the number (allow_p_n) of transmittable preferential slots and the number (allow_np_n) of transmittable non-preferential slots are calculated for each group from the leading group.
- Each node calculates a band needed to transmit the preferentially-requested slots for each group on the basis of expression 7 and determines transmittable dynamic slots.
- This band assignment for each group is performed until the entire transmittable band in the dynamic segment is used.
- the determination for each group is performed in the following procedures.
- the number allow_np_n of transmittable non-preferential slots is calculated.
- allow_p_n is calculated by the following expression.
- a transmittable slot is determined according to its slot ID.
- allow_np_n is calculated as follows.
- the number of transmittable non-preferential slots is determined. Then, since the smaller is a slot number, the higher is priority, transmittable slots are assigned according to a slot ID.
- Each transmitting node determines the transmission/non-transmission of these assigned transmittable slots.
- transmittable slots may be obtained by controlling in such a way that the accumulated sum of the length of each slot may satisfy each of the above-described expressions.
- a plurality of preferential usage request levels are provided, as in the similar way as transmittable slots are determined in the above-described order of preferential to non-preferential, transmittable slots are determined in descending order of priority level.
- the second structure example in which preferential usage request information is transmitted/received by a dynamic segment is adopted as the structure of a control field, as in the first embodiment, it is used to perform a process by subtracting a time of slots needed to transmit/receive preferential usage request information from the dynamic segment time.
- FIG. 16 explains the example determination of transmittable dynamic slots in the case where priority is determined for each group using one-bit priority information in the second embodiment. Since priority is determined for each group, it is used to perform the priority determination process before the head of each group.
- the cluster exemplified in FIG. 16 is the similar as exemplified in FIG. 15 . As illustrated, it is assumed that a preferential usage request for slot 11 is issued from node 2 and for slots 6 and 9 from node 3 .
- FIG. 16 are the example determination results of transmittable dynamic slots.
- transmittable slots are determined for each group and in the example of FIG. 16 , priority is determined for each group, firstly it is determined whether there is a slot whose preferential usage is requested in group 1. Since node 3 requests for the preferential usage of slot 6 , the transmission of slot 6 is first determined.
- the number of the remaining transmittable slots becomes four and slots 1 and 2 being the remaining slots in group 1 are sequentially determined as transmittable slots. Then, the number of the remaining transmittable slots becomes two.
- a time used to determine priority is the remaining time of the dynamic segment excluding the time actually used for group 1.
- ( 1 ) of FIG. 16 is the case where all the slots in group 1 are transmitted.
- group 2 since node 3 requests for the preferential usage of slot 9 , the transmission of slot 9 is first determined. The number of the remaining transmittable slots becomes one and slot 7 whose slot ID is the smallest of the remaining slots in group 2 is determined to be transmittable.
- dynamic slots being the control targets of a preferential usage request are in the similar communication cycle, they are determined as in ( 1 ) of FIG. 16 if they are in a subsequent communication cycle.
- ( 2 ) of FIG. 16 is an example in which transmittable dynamic slots are changed after their transmission is actually started in the dynamic segment in which transmittable slots are determined as in ( 1 ) of FIG. 16 .
- Each node monitors whether each of the slots whose transmission is permitted is actually transmitted. Therefore, when it is detected that slot 5 in group 1, whose transmission is permitted, has not been transmitted, transmitting permit is re-assigned to a slot in a subsequent group and the transmission of slot 8 is permitted.
- time used for priority determination in the above-described priority determination process is the remaining time that may be actually used, there is a possibility that the band may also be used for group 3 when there is a slot that is not transmitted regardless of its transmitting permit.
- transmittable slots are determined for each group and the transmission of as many low-priority slots having a small ID number as possible may be requested, sometimes such more complex priority control that is requested to perform in the entire dynamic segment time is requested.
- an individual slot length where control information includes the number of transmitting bytes may be used as in the first and second embodiments. Furthermore, when a plurality of preferential usage request levels are provided, as in the first and second embodiments, a band to be used may be determined in descending order of priority level like from preferential slots to non-preferential slots.
- a band may be effectively and efficiently used including non-preferential slots.
- FIG. 17 explains the example determination of transmittable dynamic slots in the case where priority is determined for each group using one-bit priority information in the third embodiment. Its cluster structure and a priority usage request are the similar as those exemplified in FIG. 16 .
- priority usage requests are processed.
- preferential usage request targets are slots 6 , 9 and 11 , their transmitting permit is determined.
- the transmission determination of group 1 is performed. It is used to determine before slot 4 starts.
- the transmitting permit of the remaining two slots may be determined. Therefore, slots 4 and 5 being the remaining slots in group 1 are sequentially determined to be transmittable. After all, the transmission of three slots is permitted in group 1.
- slot 5 whose transmission is permitted may not be actually transmitted since there is no transmitting request in node 2 .
- transmitting permit may be given to slot 7 .
- FIG. 17 is the similar as FIG. 16 except for that priority is determined in the entire dynamic segment.
- FIG. 18 explains the example determination of transmittable dynamic slots in the case where preferential requests with top priority and the second priority are determined in the entire dynamic segment, using a plurality of bits (two bits) of priority information in the third embodiment.
- control information is composed of two bits and “11” has top priority, and after that, priority drops in order of “10”, “01” and “00”.
- slots 6 and 12 which are marked with illustrated double circles and whose usage is requested with top priority are determined to be transmittable.
- slots 5 and 8 which are marked with single circles and whose usage is requested with the second priority are determined to be transmittable.
- slot 4 Since four slots are already determined to be transmittable and there still remain three slots, the remaining slot 4 is determined to be transmittable in group 1. Furthermore, since there still remain two slots, slot 7 in group 2 which is marked with a black circle and whose priority is “01” is determined to be transmittable. Then, slot 9 which is marked with a triangle and whose priority is “00” is determined to be transmittable.
- preferential requests with top priority and the second priority are determined in the entire dynamic segment, preferential requests may also be determined in another priority combination than it in the entire dynamic segment.
- non-preferential usage slots may be also effectively and efficiently transmitted.
- FIG. 19 explains the example determination of transmittable dynamic slots in the case where priority information and the number of transmitting bytes are used in the third embodiment. Its cluster structure, priority information, transmitting byte number information and a size of 600 bytes transmittable in the entire dynamic segment are the similar as exemplified in FIG. 14 . Priority determination control is collectively applied to the entire dynamic segment.
- a band is assigned to slots in descending order of priority according to their transmitting sizes.
- the number of transmitting bytes of each slot continues to be added while checking the sum in such a way as not to exceed the maximum size of 600 bytes. Then, the total size of preferentially requested slots becomes 160 bytes, which is less than 600 bytes.
- transmittable non-preferential slots are assigned for each group.
- group 1 64 bytes and 256 bytes are requested as the number of transmitting bytes of slots 5 and 6 , respectively.
- 64 and 256 bytes are added to the 160 bytes, 480 bytes are obtained. Therefore, slots 5 and 6 marked with single circles are determined to be transmittable.
- group 2 there may be a transmittable slot.
- the number of transmitting bytes of slot 8 having a small ID number, of the non-preferential slots is 128, slot 8 may not be transmitted.
- FIG. 19 it is determined that slots 8 and after may not be transmitted. However, since the number of transmitting bytes of slot 9 is 32 in group 2, in such a case, it may be also determined to permit the transmission of slot 9 . In other words, when there is a slot whose number of transmitting bytes is within the range of the number of the remaining bytes, after the slot that is determined to be non-transmittable due to its too large number of transmitting bytes, the transmission of the slot may also be determined to be transmittable.
- the slot may also be transmitted after reducing its number of transmitting bytes, if it is appropriate.
- Aforementioned embodiments may be to solve inequality in the transmission chance of a dynamic slot as requested and to provide a method for enabling a slot of a large ID number to be transmitted as much as a slot of a small ID number.
- each node in the transmitting/receiving system may determine an actually transmittable dynamic slot in the same or a subsequent communication cycle, on the basis of the reported control information for the dynamic slot. Specifically, each node determines priority according to the control information of this preferential usage request. Then, when a band runs short, a transmitting node having a non-preferential slot stops transmitting a non-preferential frame and saves a band for a slot of a preferential request.
- the frequency of the transmission completion of a dynamic slot may be preventing from decreasing because of a large ID number.
- Aforementioned embodiment may be applied to a system communication, such as FlexRay which is promoted to standardize as a next generation car-mounted network communication method, featured by a flexible segment structure comprising a fixed area and a variable area, and relates to a transmitting/receiving system, a node and a communication method of the TDMA system communication.
- FlexRay which is promoted to standardize as a next generation car-mounted network communication method, featured by a flexible segment structure comprising a fixed area and a variable area, and relates to a transmitting/receiving system, a node and a communication method of the TDMA system communication.
Abstract
Description
np=total— dslot−p [Expression 1]
3. The number of transmittable preferential slots (allow_p) and transmittable non-preferential slots (allow_np) may be obtained by the following
segment_length>(allow— p+allow— np)×slot_length, [Expression 2]
wherein
segment_length: Dynamic segment length
allow_p: Number of transmittable preferential slots (0≦allow_p≦p)
allow_np: Number of transmittable non-preferential slots (0≦allow_np≦np)
slot_length: Dynamic slot length
segment_length>p×slot_length [Expression 3]
allow— p=segment_length/slot_length (The fractional portion of the number is dropped) [Expression 4]
allow— np=segment_length/slot_length−allow— p (the fractional portion of the number is dropped) [Expression 5]
np — n=group — dslot— n−p — n (n: group number) [Expression 6]
9. According to the following
segment_length−r_segment_length>(allow— p — n+allow— np — n)×slot_length, [Expression 7]
wherein
segment_length: dynamic segment length
r_segment length: total length of assigned dynamic segment
allow_p_n: number of transmittable preferential slots (0≦allow_p_n≦p_n)
allow_np_n: number of transmittable non-preferential slots (0≦allow_np_n≦np_n)
slot_length: dynamic slot length
(n: group number)
n−1
r_segment_length=Σ((allow— p — i+allow — np — i)×slot_length) [Expression 8]
(in the case where the n-th group is calculated)
segment_length−r_segment_length>p — n×slot_length [Expression 9]
segment_length−r_segment-length=allow— p — n×slot_length
allow— p — n=(segment_length−r_segment-length)/slot_length [Expression 10]
(The fractional portion of the number is dropped)
allow— np — n=(segment_length−r_segment-length)/slot_length−allow— p — n [Expression 11]
(The fractional portion of the number is dropped)
Claims (20)
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PCT/JP2006/319419 WO2008041271A1 (en) | 2006-09-29 | 2006-09-29 | Transmitting/receiving system, node and communication method |
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CN101743721B (en) * | 2007-11-30 | 2014-03-12 | 株式会社自动网络技术研究所 | Vehicle-mounted communication system |
JP5215894B2 (en) * | 2009-02-04 | 2013-06-19 | ルネサスエレクトロニクス株式会社 | Communication control circuit, communication node, communication system, and communication control method and program |
JP5391897B2 (en) * | 2009-07-17 | 2014-01-15 | 株式会社デンソー | node |
JP5326897B2 (en) * | 2009-07-17 | 2013-10-30 | 株式会社デンソー | Communications system |
JP5372699B2 (en) * | 2009-10-27 | 2013-12-18 | 日立オートモティブシステムズ株式会社 | In-vehicle network device |
JP5462030B2 (en) * | 2010-03-02 | 2014-04-02 | 日本電気通信システム株式会社 | Wireless device, communication system, control method, and program |
DE102010036459B4 (en) * | 2010-07-16 | 2020-09-10 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Time-controlled forwarding of failed event-controlled messages |
JP5625776B2 (en) * | 2010-11-11 | 2014-11-19 | 富士通株式会社 | Program, multiplexing apparatus and multiplexing method |
US8832412B2 (en) | 2011-07-20 | 2014-09-09 | Broadcom Corporation | Scalable processing unit |
US9392295B2 (en) | 2011-07-20 | 2016-07-12 | Broadcom Corporation | Adaptable media processing architectures |
US8909834B2 (en) * | 2011-09-21 | 2014-12-09 | Nxp B.V. | Central bus guardian (CBG) and method for operating CBG |
WO2013084280A1 (en) * | 2011-12-05 | 2013-06-13 | 三菱電機株式会社 | Communication system |
US9088514B2 (en) * | 2012-07-23 | 2015-07-21 | Broadcom Corporation | Flexray communications using ethernet |
US10284247B2 (en) | 2013-06-10 | 2019-05-07 | Nxp B.V. | System and method for bit processing in a central network component |
CN110300218A (en) * | 2018-03-23 | 2019-10-01 | 中兴通讯股份有限公司 | Method for adjusting performance and device, terminal, storage medium, electronic device |
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WO2008041271A1 (en) | 2008-04-10 |
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